BRT: Bus-based Routing Technique in Urban Vehicular Networks

International audienceRouting data in Vehicular Ad hoc Networks is still a challenging topic. The unpredictable mobility of nodes renders routing of data packets over optimal paths not always possible. Therefore, there is a need to enhance the routing service. Bus Rapid Transit systems, consisting of buses characterized by a regular mobility pattern, can be a good candidate for building a backbone to tackle the problem of uncontrolled mobility of nodes and to select appropriate routing paths for data delivery. For this purpose, we propose a new routing scheme called Bus-based Routing Technique (BRT) which exploits the periodic and predictable movement of buses to learn the required time (the temporal distance) for each data transmission to RoadSide Units (RSUs) through a dedicated bus-based backbone. Indeed, BRT comprises two phases: (i) Learning process which should be carried out, basically, one time to allow buses to build routing tables entries and expect the delay for routing data packets over buses, (ii) Data delivery process which exploits the pre-learned temporal distances to route data packets through the bus backbone towards an RSU (backbone mode). BRT uses other types of vehicles to boost the routing of data packets and also provides a maintenance procedure to deal with unexpected situations like a missing nexthop bus, which allows BRT to continue routing data packets. Simulation results show that BRT provides good performance results in terms of delivery ratio and end-to-end delay

Trajectory planning based on adaptive model predictive control: Study of the performance of an autonomous vehicle in critical highway scenarios

Increasing automation in automotive industry is an important contribution to overcome many of the major societal challenges. However, testing and validating a highly autonomous vehicle is one of the biggest obstacles to the deployment of such vehicles, since they rely on data-driven and real-time sensors, actuators, complex algorithms, machine learning systems, and powerful processors to execute software, and they must be proven to be reliable and safe. For this reason, the verification, validation and testing (VVT) of autonomous vehicles is gaining interest and attention among the scientific community and there has been a number of significant efforts in this field. VVT helps developers and testers to determine any hidden faults, increasing systems confidence in safety, security, functional analysis, and in the ability to integrate autonomous prototypes into existing road networks. Other stakeholders like higher-management, public authorities and the public are also crucial to complete the VTT process. As autonomous vehicles require hundreds of millions of kilometers of testing driven on public roads before vehicle certification, simulations are playing a key role as they allow the simulation tools to virtually test millions of real-life scenarios, increasing safety and reducing costs, time and the need for physical road tests. In this study, a literature review is conducted to classify approaches for the VVT and an existing simulation tool is used to implement an autonomous driving system. The system will be characterized from the point of view of its performance in some critical highway scenarios.O aumento da automação na indústria automotiva é uma importante contribuição para superar muitos dos principais desafios da sociedade. No entanto, testar e validar um veículo altamente autónomo é um dos maiores obstáculos para a implantação de tais veículos, uma vez que eles contam com sensores, atuadores, algoritmos complexos, sistemas de aprendizagem de máquina e processadores potentes para executar softwares em tempo real, e devem ser comprovadamente confiáveis e seguros. Por esta razão, a verificação, validação e teste (VVT) de veículos autónomos está a ganhar interesse e atenção entre a comunidade científica e tem havido uma série de esforços significativos neste campo. A VVT ajuda os desenvolvedores e testadores a determinar quaisquer falhas ocultas, aumentando a confiança dos sistemas na segurança, proteção, análise funcional e na capacidade de integrar protótipos autónomos em redes rodoviárias existentes. Outras partes interessadas, como a alta administração, autoridades públicas e o público também são cruciais para concluir o processo de VTT. Como os veículos autónomos exigem centenas de milhões de quilómetros de testes conduzidos em vias públicas antes da certificação do veículo, as simulações estão a desempenhar cada vez mais um papel fundamental, pois permitem que as ferramentas de simulação testem virtualmente milhões de cenários da vida real, aumentando a segurança e reduzindo custos, tempo e necessidade de testes físicos em estrada. Neste estudo, é realizada uma revisão da literatura para classificar abordagens para a VVT e uma ferramenta de simulação existente é usada para implementar um sistema de direção autónoma. O sistema é caracterizado do ponto de vista do seu desempenho em alguns cenários críticos de autoestrad

Quality of service aware data dissemination in vehicular Ad Hoc networks

Des systèmes de transport intelligents (STI) seront éventuellement fournis dans un proche avenir pour la sécurité et le confort des personnes lors de leurs déplacements sur les routes. Les réseaux ad-hoc véhiculaires (VANETs) représentent l'élément clé des STI. Les VANETs sont formés par des véhicules qui communiquent entre eux et avec l'infrastructure. En effet, les véhicules pourront échanger des messages qui comprennent, par exemple, des informations sur la circulation routière, les situations d'urgence et les divertissements. En particulier, les messages d'urgence sont diffusés par des véhicules en cas d'urgence (p.ex. un accident de voiture); afin de permettre aux conducteurs de réagir à temps (p.ex., ralentir), les messages d'urgence doivent être diffusés de manière fiable dans un délai très court. Dans les VANETs, il existe plusieurs facteurs, tels que le canal à pertes, les terminaux cachés, les interférences et la bande passante limitée, qui compliquent énormément la satisfaction des exigences de fiabilité et de délai des messages d'urgence. Dans cette thèse, en guise de première contribution, nous proposons un schéma de diffusion efficace à plusieurs sauts, appelé Dynamic Partitioning Scheme (DPS), pour diffuser les messages d'urgence. DPS calcule les tailles de partitions dynamiques et le calendrier de transmission pour chaque partition; à l'intérieur de la zone arrière de l'expéditeur, les partitions sont calculées de sorte qu'en moyenne chaque partition contient au moins un seul véhicule; l'objectif est de s'assurer que seul un véhicule dans la partition la plus éloignée (de l'expéditeur) est utilisé pour diffuser le message, jusqu'au saut suivant; ceci donne lieu à un délai d'un saut plus court. DPS assure une diffusion rapide des messages d'urgence. En outre, un nouveau mécanisme d'établissement de liaison, qui utilise des tonalités occupées, est proposé pour résoudre le problème du problème de terminal caché. Dans les VANETs, la Multidiffusion, c'est-à-dire la transmission d'un message d'une source à un nombre limité de véhicules connus en tant que destinations, est très importante. Par rapport à la diffusion unique, avec Multidiffusion, la source peut simultanément prendre en charge plusieurs destinations, via une arborescence de multidiffusion, ce qui permet d'économiser de la bande passante et de réduire la congestion du réseau. Cependant, puisque les VANETs ont une topologie dynamique, le maintien de la connectivité de l'arbre de multidiffusion est un problème majeur. Comme deuxième contribution, nous proposons deux approches pour modéliser l'utilisation totale de bande passante d'une arborescence de multidiffusion: (i) la première approche considère le nombre de segments de route impliqués dans l'arbre de multidiffusion et (ii) la seconde approche considère le nombre d'intersections relais dans l'arbre de multidiffusion. Une heuristique est proposée pour chaque approche. Pour assurer la qualité de service de l'arbre de multidiffusion, des procédures efficaces sont proposées pour le suivi des destinations et la surveillance de la qualité de service des segments de route. Comme troisième contribution, nous étudions le problème de la congestion causée par le routage du trafic de données dans les VANETs. Nous proposons (1) une approche de routage basée sur l’infonuagique qui, contrairement aux approches existantes, prend en compte les chemins de routage existants qui relaient déjà les données dans les VANETs. Les nouvelles demandes de routage sont traitées de sorte qu'aucun segment de route ne soit surchargé par plusieurs chemins de routage croisés. Au lieu d'acheminer les données en utilisant des chemins de routage sur un nombre limité de segments de route, notre approche équilibre la charge des données en utilisant des chemins de routage sur l'ensemble des tronçons routiers urbains, dans le but d'empêcher, dans la mesure du possible, les congestions locales dans les VANETs; et (2) une approche basée sur le réseau défini par logiciel (SDN) pour surveiller la connectivité VANET en temps réel et les délais de transmission sur chaque segment de route. Les données de surveillance sont utilisées en entrée de l'approche de routage.Intelligent Transportation Systems (ITS) will be eventually provided in the near future for both safety and comfort of people during their travel on the roads. Vehicular ad-hoc Networks (VANETs), represent the key component of ITS. VANETs consist of vehicles that communicate with each other and with the infrastructure. Indeed, vehicles will be able to exchange messages that include, for example, information about road traffic, emergency situations, and entertainment. Particularly, emergency messages are broadcasted by vehicles in case of an emergency (e.g., car accident); in order to allow drivers to react in time (e.g., slow down), emergency messages must be reliably disseminated with very short delay. In VANETs, there are several factors, such as lossy channel, hidden terminals, interferences and scarce bandwidth, which make satisfying reliability and delay requirements of emergency messages very challenging. In this thesis, as the first contribution, we propose a reliable time-efficient and multi-hop broadcasting scheme, called Dynamic Partitioning Scheme (DPS), to disseminate emergency messages. DPS computes dynamic partition sizes and the transmission schedule for each partition; inside the back area of the sender, the partitions are computed such that in average each partition contains at least a single vehicle; the objective is to ensure that only a vehicle in the farthest partition (from the sender) is used to disseminate the message, to next hop, resulting in shorter one hop delay. DPS ensures fast dissemination of emergency messages. Moreover, a new handshaking mechanism, that uses busy tones, is proposed to solve the problem of hidden terminal problem. In VANETs, Multicasting, i.e. delivering a message from a source to a limited known number of vehicles as destinations, is very important. Compared to Unicasting, with Multicasting, the source can simultaneously support multiple destinations, via a multicast tree, saving bandwidth and reducing overall communication congestion. However, since VANETs have a dynamic topology, maintaining the connectivity of the multicast tree is a major issue. As the second contribution, we propose two approaches to model total bandwidth usage of a multicast tree: (i) the first approach considers the number of road segments involved in the multicast tree and (ii) the second approach considers the number of relaying intersections involved in the multicast tree. A heuristic is proposed for each approach. To ensure QoS of the multicasting tree, efficient procedures are proposed for tracking destinations and monitoring QoS of road segments. As the third contribution, we study the problem of network congestion in routing data traffic in VANETs. We propose (1) a Cloud-based routing approach that, in opposition to existing approaches, takes into account existing routing paths which are already relaying data in VANETs. New routing requests are processed such that no road segment gets overloaded by multiple crossing routing paths. Instead of routing over a limited set of road segments, our approach balances the load of communication paths over the whole urban road segments, with the objective to prevent, whenever possible, local congestions in VANETs; and (2) a Software Defined Networking (SDN) based approach to monitor real-time VANETs connectivity and transmission delays on each road segment. The monitoring data is used as input to the routing approach

A RELIABILITY-BASED ROUTING PROTOCOL FOR VEHICULAR AD-HOC NETWORKS

Vehicular Ad hoc NETworks (VANETs), an emerging technology, would allow vehicles to form a self-organized network without the aid of a permanent infrastructure. As a prerequisite to communication in VANETs, an efficient route between communicating nodes in the network must be established, and the routing protocol must adapt to the rapidly changing topology of vehicles in motion. This is one of the goals of VANET routing protocols. In this thesis, we present an efficient routing protocol for VANETs, called the Reliable Inter-VEhicular Routing (RIVER) protocol. RIVER utilizes an undirected graph that represents the surrounding street layout where the vertices of the graph are points at which streets curve or intersect, and the graph edges represent the street segments between those vertices. Unlike existing protocols, RIVER performs real-time, active traffic monitoring and uses this data and other data gathered through passive mechanisms to assign a reliability rating to each street edge. The protocol then uses these reliability ratings to select the most reliable route. Control messages are used to identify a node’s neighbors, determine the reliability of street edges, and to share street edge reliability information with other nodes

An approach driven by mobile agents for data management in vehicular networks

In the last years, and thanks to improvements on computing and communications technologies, wireless networks formed by vehicles (called vehicular networks) have emerged as a key topic of interest. In these networks, the vehicles can exchange data by using short-range radio signals in order to get useful information related to traffic conditions, road safety, and other aspects. The availability of different types of sensors can be exploited by the vehicles to measure many parameters from their surroundings. These data can then be shared with other drivers who, on the other side, could also explicitly submit queries to retrieve information available in the network. This can be a challenging task, since the data is scattered among the vehicles belonging to the network and the communication links among them have usually a short life due to their constant movement. In this paper, we use mobile agent technology to help to accomplish these tasks, since mobile agents have a number of features that are very well suited for mobile environments, such as autonomy, mobility, and intelligence. Specifically, we analyze the benefits that mobile agents can bring to vehicular networks and the potential difficulties for their adoption. Moreover, we describe a query processing approach based on the use of mobile agents. We focus on range queries that retrieve interesting information from the vehicles located within a geographic area, and perform an extensive experimental evaluation that shows the feasibility and the interest of the proposal

Securing Vehicular Ad Hoc Networks

Vehicular networks are very likely to be deployed in the coming years and thus become the most relevant form of mobile ad hoc networks. In this paper, we address the security of these networks. We provide a detailed threat analysis and devise an appropriate security architecture. We also describe some major design decisions still to be made, which in some cases have more than mere technical implications. We provide a set of security protocols, we show that they protect privacy and we analyze their robustness and efficiency

Information collection algorithm for vehicular ad-hoc networks (application domain: Urban Traffic Wireless Vehicular Ad-Hoc Networks (VANETs))

Vehicle to vehicle communication (V2VC) is one of the modern approaches for exchanging and generating traffic information with (yet to be realized) potential to improve road safety, driving comfort and traffic control. In this research, we present a novel algorithm which is based on V2V communication, uses in-vehicle sensor information and in collaboration with the other vehicles' sensor information can detect road conditions and determine the geographical area where this road condition exists – e.g. geographical area where there is traffic density, unusual traffic behaviour, a range of weather conditions (raining), etc. The algorithms' built-in automatic geographical restriction of the data collection, aggregation and dissemination mechanisms allows warning messages to be received by any car, not necessarily sharing the identified road condition, which may then be used to identify the optimum route taken by the vehicle e.g. avoid bottlenecks or dangerous areas including accidents or congestions on their current routes. This research covers the middle ground between MANET [1] and collaborative data generation based on knowledge granularity (aggregation). It investigates the possibility of designing, implementing and modelling of the functionality of an algorithm (as part of the design of an intelligent node in an Intelligent Transportation System - ITS) that ensures active participation in the formation, routing and general network support of MANETs and also helps in-car traffic information and real-time control generation and distribution. The work is natural extension of the efforts of several large EU projects like DRIVE [2], GST [3] and SAFESPOT [4]

ON THE INTEGRATION OF VEHICULAR AD-HOC NETWORKS AND VISION-BASED DRIVER ASSISTANCE

Vehicular ad-hoc networks (VANETs) allow for short range wireless communication to share information between vehicles. Vision-based driver assistance (VBDA) uses computer vision to obtain information about nearby objects. The goal of both systems is to create a model of the environment surrounding the vehicle in order to make decisions. With unique strengths and weaknesses the two systems complement each other well. A simulation environment for both VANETs and VBDA is created to test both systems alongside one another. They are evaluated and then combined to build the best possible model of the environment with the goal of improving vehicle safety under adverse condition